相关论文: Behavior Trees in Industrial Applications: A Case …

This paper considers the design-phase safety analysis of vehicle guidance systems. The proposed approach constructs dynamic fault trees (DFTs) to model a variety of safety concepts and E/E architectures for drive automation. The fault trees…

The rapid advancements in autonomous vehicle software present both opportunities and challenges, especially in enhancing road safety. The primary objective of autonomous vehicles is to reduce accident rates through improved safety measures.…

Tree-based regression and classification has become a standard tool in modern data science. Bayesian Additive Regression Trees (BART) has in particular gained wide popularity due its flexibility in dealing with interactions and non-linear…

We present a new package in R implementing Bayesian additive regression trees (BART). The package introduces many new features for data analysis using BART such as variable selection, interaction detection, model diagnostic plots,…

This paper proposes the Real-Time Fast Marching Tree (RT-FMT), a real-time planning algorithm that features local and global path generation, multiple-query planning, and dynamic obstacle avoidance. During the search, RT-FMT quickly looks…

In this paper, we show how Behavior Trees that have performance guarantees, in terms of safety and goal convergence, can be extended with components that were designed using machine learning, without destroying those performance guarantees.…

Homing preset and adaptive experiments with Finite State Machines (FSMs) are widely used when a non-initialized discrete event system is given for testing and thus, has to be set to the known state at the first step. The length of a…

Fault Tree (FT) is a standard failure modeling technique that has been extensively used to predict reliability, availability and safety of many complex engineering systems. In order to facilitate the formal analysis of FT based analyses, a…

Additive models, such as produced by gradient boosting, and full interaction models, such as classification and regression trees (CART), are widely used algorithms that have been investigated largely in isolation. We show that these models…

Deep reinforcement learning has led to numerous notable results in robotics. However, deep neural networks (DNNs) are unintuitive, which makes it difficult to understand their predictions and strongly limits their potential for real-world…

Explainable boosting machines (EBMs) are popular "glass-box" models that learn a set of univariate functions using boosting trees. These achieve explainability through visualizations of each feature's effect. However, unlike linear model…

An online evolving framework is proposed to support modeling the safe Automated Vehicle (AV) control system by making the controller able to recognize unexpected situations and react appropriately by choosing a better action. Within the…

We present the Field of Safe Motion (FSM), a quantitative safety model for determining whether a driver maintains a collision-free escape route, or "out," at any given moment by accounting for that driver's physical capabilities and the…

This work introduces the Eigen Memory Tree (EMT), a novel online memory model for sequential learning scenarios. EMTs store data at the leaves of a binary tree and route new samples through the structure using the principal components of…

Autonomous vehicles (AVs) require adaptive behavior planners to navigate unpredictable, real-world environments safely. Traditional behavior trees (BTs) offer structured decision logic but are inherently static and demand labor-intensive…

Deep Reinforcement Learning (DRL) has recently achieved significant advances in various domains. However, explaining the policy of RL agents still remains an open problem due to several factors, one being the complexity of explaining neural…

This paper compares two distinct approaches to modeling robotic behavior: imperative Behavior Trees (BTs) and declarative Executable Ontologies (EO), implemented through the boldsea framework. BTs structure behavior hierarchically using…

Problem definition. In retailing, discrete choice models (DCMs) are commonly used to capture the choice behavior of customers when offered an assortment of products. When estimating DCMs using transaction data, flexible models (such as…

Machine learning (ML) techniques are increasingly applied to decision-making and control problems in Cyber-Physical Systems among which many are safety-critical, e.g., chemical plants, robotics, autonomous vehicles. Despite the significant…

Process models are, like event data, first-class citizens in most process mining approaches. Several process modeling formalisms have been proposed and used, e.g., Petri nets, BPMN, and process trees. Despite their frequent use, little…